autoware::perception::filters::voxel_grid::CentroidVoxel< PointT > Class Template Reference
A specialization of the Voxel class, accumulates points to a moving centroid. More...
#include <voxels.hpp>
Inheritance diagram for autoware::perception::filters::voxel_grid::CentroidVoxel< PointT >:
Collaboration diagram for autoware::perception::filters::voxel_grid::CentroidVoxel< PointT >:
Public Member Functions | |
| void | add_observation (const PointT &pt) |
| Update the state of this voxel by incrementally updating the mean. More... | |
| void | configure (const Config &cfg, const uint64_t idx) |
| Use Config and index to set up any important information, in this case no-op. More... | |
 Public Member Functions inherited from autoware::perception::filters::voxel_grid::Voxel< PointT > | |
| Voxel () | |
| Default constructor, corresponds to an empty/uninitialized voxel. More... | |
| Voxel (const PointT &pt) | |
| Point constructor, voxel is assumed to be created based on this point. More... | |
| operator bool () const | |
| Conversion operator to bool, pass through to occupied. More... | |
| operator PointT () const | |
| Conversion operator to PointT, pass through to get. More... | |
| bool | occupied () const |
| Whether or not this object has at least one point associated with it. More... | |
| void | clear () |
| Resets the centroid for incremental updating. More... | |
| const PointT & | get () const |
| Emit the centroid. More... | |
| uint32_t | count () const |
| Get the current number of points associated with this voxel. More... | |
Additional Inherited Members | |
| Public Types inherited from autoware::perception::filters::voxel_grid::Voxel< PointT > | |
| using | point_t = PointT |
| Protected Member Functions inherited from autoware::perception::filters::voxel_grid::Voxel< PointT > | |
| void | set_count (const uint32_t next) |
| Sets the count. This is to properly encapsulate the member variables. Intended to be used by child classes. More... | |
| void | set_centroid (const PointT &pt) |
| Sets the centroid. This is to properly encapsulate the member variables. Intended to be used by child classes. More... | |
Detailed Description
template<typename PointT>
class autoware::perception::filters::voxel_grid::CentroidVoxel< PointT >
A specialization of the Voxel class, accumulates points to a moving centroid.
- Template Parameters
-
PointT The point type, must have operator+ and operator*(float32_t) defined, and float32_t members x, y, and z
A note on extending this to point types with additional fields: The default behavior only updates the x, y, and z fields of the points. To get proper behavior for other types, you can define operator+(PointT, PointT) and operator*(PointT, float32_t), in this namespace or the global namespace to get proper resolution.
Member Function Documentation
◆ add_observation()
template<typename PointT >
|
inline |
Update the state of this voxel by incrementally updating the mean.
- Parameters
-
[in] pt The observed point
◆ configure()
template<typename PointT >
|
inline |
Use Config and index to set up any important information, in this case no-op.
- Parameters
-
[in] cfg The configuration object for the parent voxel grid [in] idx The index for this particular voxel
The documentation for this class was generated from the following file: